mirror of https://github.com/ArduPilot/ardupilot
157 lines
3.8 KiB
C++
157 lines
3.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Copyright 2010 Michael Smith, all rights reserved.
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// Derived closely from:
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/****************************************
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* 2D Vector Classes
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* By Bill Perone (billperone@yahoo.com)
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* Original: 9-16-2002
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* Revised: 19-11-2003
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* 18-12-2003
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* 06-06-2004
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*
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* © 2003, This code is provided "as is" and you can use it freely as long as
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* credit is given to Bill Perone in the application it is used in
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****************************************/
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#ifndef VECTOR2_H
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#define VECTOR2_H
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#include <math.h>
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template <typename T>
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struct Vector2
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{
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T x, y;
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// trivial ctor
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Vector2<T>() {
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x = y = 0;
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}
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// setting ctor
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Vector2<T>(const T x0, const T y0) : x(x0), y(y0) {
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}
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// function call operator
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void operator ()(const T x0, const T y0)
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{
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x= x0; y= y0;
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}
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// test for equality
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bool operator ==(const Vector2<T> &v) const;
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// test for inequality
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bool operator !=(const Vector2<T> &v) const;
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// negation
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Vector2<T> operator -(void) const;
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// addition
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Vector2<T> operator +(const Vector2<T> &v) const;
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// subtraction
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Vector2<T> operator -(const Vector2<T> &v) const;
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// uniform scaling
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Vector2<T> operator *(const T num) const;
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// uniform scaling
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Vector2<T> operator /(const T num) const;
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// addition
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Vector2<T> &operator +=(const Vector2<T> &v);
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// subtraction
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Vector2<T> &operator -=(const Vector2<T> &v);
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// uniform scaling
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Vector2<T> &operator *=(const T num);
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// uniform scaling
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Vector2<T> &operator /=(const T num);
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// dot product
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T operator *(const Vector2<T> &v) const;
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// cross product
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T operator %(const Vector2<T> &v) const;
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// computes the angle between this vector and another vector
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float angle(const Vector2<T> &v2) const;
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// computes the angle in radians between the origin and this vector
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T angle(void) const;
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// check if any elements are NAN
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bool is_nan(void) const;
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// check if any elements are infinity
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bool is_inf(void) const;
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// gets the length of this vector squared
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T length_squared() const
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{
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return (T)(*this * *this);
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}
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// gets the length of this vector
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float length(void) const;
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// normalizes this vector
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void normalize()
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{
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*this/=length();
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}
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// returns the normalized vector
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Vector2<T> normalized() const
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{
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return *this/length();
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}
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// reflects this vector about n
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void reflect(const Vector2<T> &n)
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{
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Vector2<T> orig(*this);
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project(n);
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*this= *this*2 - orig;
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}
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// projects this vector onto v
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void project(const Vector2<T> &v)
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{
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*this= v * (*this * v)/(v*v);
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}
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// returns this vector projected onto v
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Vector2<T> projected(const Vector2<T> &v)
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{
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return v * (*this * v)/(v*v);
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}
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};
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typedef Vector2<int16_t> Vector2i;
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typedef Vector2<uint16_t> Vector2ui;
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typedef Vector2<int32_t> Vector2l;
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typedef Vector2<uint32_t> Vector2ul;
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typedef Vector2<float> Vector2f;
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#endif // VECTOR2_H
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